{"title":"机器人动力学的符号多项式自动建模与快速求解","authors":"M. A. Townsend, S. Gupta","doi":"10.1115/1.3259035","DOIUrl":null,"url":null,"abstract":"Fast and accurate solutions of the dynamic equations of a robot arm are required for real time on-line control. In this paper we present a new method for rapidly evaluating the exact dynamic state of a robot. This method uses a combination of symbolic and numerical computations on the equations of motion, which are developed in the form of polynomials—hence the name, the symbolic polynomial technique.","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"44 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1989-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Automated Modeling and Rapid Solution of Robot Dynamics Using the Symbolic Polynomial Technique\",\"authors\":\"M. A. Townsend, S. Gupta\",\"doi\":\"10.1115/1.3259035\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Fast and accurate solutions of the dynamic equations of a robot arm are required for real time on-line control. In this paper we present a new method for rapidly evaluating the exact dynamic state of a robot. This method uses a combination of symbolic and numerical computations on the equations of motion, which are developed in the form of polynomials—hence the name, the symbolic polynomial technique.\",\"PeriodicalId\":206146,\"journal\":{\"name\":\"Journal of Mechanisms Transmissions and Automation in Design\",\"volume\":\"44 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1989-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Mechanisms Transmissions and Automation in Design\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1115/1.3259035\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Mechanisms Transmissions and Automation in Design","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1115/1.3259035","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Automated Modeling and Rapid Solution of Robot Dynamics Using the Symbolic Polynomial Technique
Fast and accurate solutions of the dynamic equations of a robot arm are required for real time on-line control. In this paper we present a new method for rapidly evaluating the exact dynamic state of a robot. This method uses a combination of symbolic and numerical computations on the equations of motion, which are developed in the form of polynomials—hence the name, the symbolic polynomial technique.
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